Model Predictive Control Concept
A concept for Model Predictive Control in race-cars
This is a presentation made by me during the concept phase of the 2021-2022 season.
It is an extension of Contouring Model Predictive Control for cars with a differential, using the HPIPM NLP solver. Globalrace-trajectory optimization for shortest time is done using Time-Optimal Trajectory Planning (Christ et al., 2019).
